Constrained predictive control of helicopters

Purpose - The purpose of this paper is to show the feasibility of constrained model predictive control (MPC) for sophisticated helicopter models which are derived by physical considerations. Design/methodology/approach - Physics-based modeling is used to create control-oriented helicopter models. Advanced constrained controllers are designed and tested for these sophisticated models. Findings - The helicopter models are valid and constrained MPC shows considerable promise for robust tracking. Practical implications - MPCs can be implemented for highly constrained helicopter flights. Originality/value - A complete process of control-oriented, physics-based model development for helicopters followed by MPC design is developed. It is also proved that constrained MPC can be used and implemented online to robustly track discontinuous helicopter trajectories with heterogeneous constraints, even when the models are sophisticated and physics based.